科技创新与应用2025，Vol.15Issue(11)：32-36,5.DOI:10.19981/j.CN23-1581/G3.2025.11.007
移动机器人自主避障最优路径规划算法设计
摘要
Abstract
In order to ensure that mobile robots reach the target point safely and efficiently,autonomous obstacle avoidance planning algorithms for mobile robots have become an important part of the research field of mobile robots.In this paper,a path planning algorithm based on global planning and local optimization is used to plan autonomous obstacle avoidance paths for mobile robots.First,based on the traditional RRT algorithm,the heuristic function is optimized,and the RRT-star algorithm is proposed by iteratively searching the path reconnecting the parent node,and the generated path is used as the global planning result of the robot.The TEB algorithm for multi-objective optimization is locally optimized.The optimization algorithm adds constraints on the objective function of speed,acceleration and time according to the actual situation in real time,making the two parts of planning and control more collaborative.The RRT-star algorithm and TEB trajectory planning algorithm are integrated to significantly improve the safety and smoothness of local paths,thereby providing a more reliable guarantee for autonomous navigation of mobile robots.Finally,simulation results verify the feasibility and rationality of the algorithm,which provides a new idea for path planning for mobile robots.关键词
最优路径规划/RRT算法/RRT-star算法/TEB局部规划算法/自主导航Key words
optimal path planning/RRT algorithm/RRT-star algorithm/TEB local planning algorithm/autonomous navigation分类
信息技术与安全科学引用本文复制引用
马明月,周怀忠,张洪飞,周新志,龙樟,李渊博..移动机器人自主避障最优路径规划算法设计[J].科技创新与应用,2025,15(11):32-36,5.基金项目
2022年南充市科技计划项目(22YYJCYJ0085) （22YYJCYJ0085）
2023年南充-西南石油大学科技战略合作专项(23XNSYSX0061,23XN-SYSX0048) （23XNSYSX0061,23XN-SYSX0048）
